Flexible magnetic foot
Through the design of flexible magnetic feet, utilizing the characteristics of strong magnets and electropermanent magnets, and combining them with magnetorheological elastomers, efficient climbing on walls of different curvatures is achieved, energy consumption is reduced, and the problem of traditional magnetic wall-climbing robots climbing on walls with larger curvatures is solved.
Patent Information
- Application Number
- CN202511011147.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-22
- Publication Date
- 2025-10-17
AI Technical Summary
Traditional magnetic wall-climbing robots have difficulty climbing walls with large curvatures, and existing magnetic mechanisms have high energy consumption or insufficient magnetic force.
It adopts a flexible magnetic foot design, takes advantage of the characteristics of strong magnets and electropermanent magnets, controls the adsorption and detachment of the magnetic foot by applying pulse currents in different directions, and combines the flexible arrangement of magnetorheological elastomers and electropermanent magnets to achieve the change of magnetic force direction.
It achieves efficient climbing on walls of different curvatures, reduces energy consumption, and has flexible adsorption and detachment capabilities.
Smart Images
Figure CN120791846A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application relates to a robot foot, in particular to a flexible magnetic foot. BACKGROUND
[0002] Traditional magnetic wall-climbing robots, such as crawler-type or wheel-type, can only be applied to flat walls or walls with small curvature and cannot climb walls with relatively large curvature.
[0003] In addition, the traditional magnetic attraction mechanism generally uses permanent magnets, which have great magnetic force but are difficult to separate, or uses electromagnets, which can well control the attraction and separation but consume a large amount of electricity and cannot meet the demand for low energy consumption; some use electric permanent materials to realize magnetic attraction, which has the characteristics of low coercive force and can change the magnetic force direction by winding coils and applying different direction pulse currents, but the magnetic energy product of the material is not very large and the magnetic force is insufficient. SUMMARY
[0004] The application provides a flexible magnetic foot to overcome the shortcomings of the prior art. The magnetic foot utilizes the characteristics of high magnetic force of a strong magnet and low coercive force of an electric permanent magnet, and by applying pulse currents in different directions, the attraction and separation of the magnetic foot can be controlled, greatly reducing the energy consumption.
[0005] A flexible magnetic foot comprises a magnetic conductor, a magnetic flexible body I and a magnetic flexible body II.
[0006] The magnetic conductor is arranged in an array, and the magnetic flexible body I and the magnetic flexible body II are arranged between two adjacent magnetic conductors in the circumferential direction, and the magnetic flexible body I and the magnetic flexible body II are arranged alternately.
[0007] The magnetic flexible body I is configured to change the magnetic force direction by applying pulse currents, so that the magnetic flexible body II is in an external attraction or external separation state.
[0008] Further, the magnetic flexible body I comprises an electric permanent magnet, a coil I and a magnetorheological elastomer I; the coil I is coated with the magnetorheological elastomer I and two electric permanent magnets, the magnetorheological elastomer I is arranged between the two electric permanent magnets, and the electric permanent magnet is connected with the magnetic conductor.
[0009] Further, the magnetic flexible body II comprises a strong magnet and a magnetorheological elastomer II; the magnetorheological elastomer II is arranged between the two strong magnets, and the strong magnet is connected with the magnetic conductor.
[0010] The application has the following beneficial effects compared with the prior art:
[0011] The application utilizes the high magnetic force of the strong magnet and the low coercivity of the electric permanent magnet, and through applying pulse current in different directions, the adsorption and separation of the magnetic foot can be controlled, and the energy consumption is greatly reduced.
[0012] The flexible magnetic foot is improved through arrangement of different components and structural design, has certain flexibility, is used for the wall-climbing robot, and can realize adsorption and climbing of the robot on the wall surface with different curvatures.
[0013] The application scheme will be further described below in combination with the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 It is a perspective view of the flexible magnetic foot of an embodiment;
[0015] Figure 2 It is a schematic view of the internal structure of the flexible magnetic foot of an embodiment;
[0016] Figure 3 It is a schematic view of the external separation state of the flexible magnetic foot of an embodiment;
[0017] Figure 4 It is a schematic view of the external adsorption state of the flexible magnetic foot of an embodiment;
[0018] Figure 5 It is a schematic view of the simulation of the flexible magnetic foot of an embodiment;
[0019] Figure 6 It is a schematic view of the adsorption principle of the flexible magnetic foot of an embodiment;
[0020] Figure 7 It is a schematic view of the separation principle of the flexible magnetic foot of an embodiment;
[0021] Figure 8 It is a perspective view of the flexible magnetic foot of another embodiment.
[0022] In the figure: 1, magnetic conductor, 2, magnetic flexible body I, 3, magnetic flexible body II, 21, electric permanent magnet 21, 22, coil I, 23, magnetorheological elastomer I, 31, strong magnet, 32, magnetorheological elastomer II, 4, wear-resistant foot pad. DETAILED DESCRIPTION
[0023] The embodiments of the technical scheme of the application will be described in detail below in combination with the drawings. Unless otherwise specified, the technical terms or scientific terms used in the application are the general meanings understood by the skilled in the art.
[0024] REFERENCE Figure 1 A flexible magnetic foot comprises a magnetic conductor 1, a magnetic flexible body I 2 and a magnetic flexible body II 3.
[0025] The magnetic conductors 1 are arranged in an array, and a magnetic flexible body I 2 and a magnetic flexible body II 3 are arranged between two adjacent magnetic conductors 1 in the circumferential direction, and the magnetic flexible body I 2 and the magnetic flexible body II 3 are arranged alternately.
[0026] The magnetic flexible body I 2 is configured to change the magnetic force direction by applying a pulse current, so that the magnetic flexible body II 3 is in an external adsorption or external separation state.
[0027] The magnetic conductor 1 is an electrical pure iron, which has a high magnetic saturation rate capability and functions as a magnetic conductor.
[0028] The number of magnetic conductors 1 in the magnetic foot of the embodiment is four, arranged in a rectangular or square array, and a pair of magnetic flexible body I 2 and a pair of magnetic flexible body II 3 are arranged between two adjacent magnetic conductors 1, and the pair of magnetic flexible body I 2 and the pair of magnetic flexible body II 3 are arranged alternately. The flexible magnetic foot arranged in this structure can be used as the foot of a wall climbing robot, such as a wall climbing foot robot, to help the robot climb walls with different curvatures. It can also be used as a flexible magnetic suction claw to grasp parts with different curvatures.
[0029] As an optional embodiment, referring to Figure 2 , the magnetic flexible body I 2 comprises an electropermanent magnet 21, a coil I 22 and a magneto-rheological elastomer I 23; the coil I 22 is covered with the magneto-rheological elastomer I 23 and two electropermanent magnets 21, and the magneto-rheological elastomer I 23 is arranged between the two electropermanent magnets 21, and the electropermanent magnet 21 is connected with the magnetic conductor 1.
[0030] Preferably, the electropermanent magnet 21 is an AlNiCo5 magnet. The electrophoretic magnetic coercivity is low, and the magnetic force direction can be changed by applying a pulse current.
[0031] The coil I 22 is connected to a pulse current to change the magnetic force direction of the AlNiCo5, so that the magnetic flexible body II 3 is in an external adsorption or external separation state, thereby changing the adsorption or separation state of the magnetic foot.
[0032] As an optional embodiment, referring to Figure 3 , the magnetic flexible body II 3 comprises a strong magnet 31 and a magneto-rheological elastomer II 32; the magneto-rheological elastomer II 32 is arranged between two strong magnets 31, and the strong magnet 31 is connected with the magnetic conductor 1.
[0033] Preferably, the strong magnet 31 is a NdFeB magnet. For example, it includes but is not limited to a NdFeB52 or a NdFeB42 magnet. Neodymium iron boron has high magnetic permeability, and the main magnetic force of the magnetic foot is provided thereby.
[0034] Magnetorheological elastomer I23 and magnetorheological elastomer II32 (MRE) have high magnetic permeability flexibility, which is based on rubber as a substrate, adding a certain proportion of carbonyl iron powder. It has certain magnetic permeability and flexibility, which is the key design of the whole magnetic foot. It is the design of magnetorheological elastomer that the magnetic foot can produce magnetism to the outside.
[0035] Figure 3 And Figure 4 The direction indicated by the blue arrow is the N-S polarity direction of the AlNiCo5 magnet, and the orange line represents the magnetic guide line direction.
[0036] Figure 3 It is shown as a magnetic foot detached state: the polarity of the four AlNiCo5 magnets is shown as shown (S→N polarity direction), and this polarity direction causes most of the magnetic lines (orange lines) to be distributed inside the magnetic foot, and the magnetic foot shows no magnetism to the outside.
[0037] Figure 4 It is shown as a magnetic foot adsorption state: the polarity of the four AlNiCo5 magnets is shown as shown (S→N polarity direction), and most of the magnetic lines (orange lines) can pass through the adsorbed wall surface, and the outside is in an adsorbed state.
[0038] The lower surface of each said magnetic conductor 1 is provided with a wear-resistant foot pad 4. For example: wear-resistant magnetorheological elastomer foot pad, by changing the substrate, the foot pad has a larger friction coefficient, according to the formula f=u×F n It can be seen that the greater the friction coefficient, the greater the friction of the magnetic foot in the tangential direction.
[0039] Figure 5 It is shown that the flexible magnetic foot with two groups of magnetic flexible body I2 and two groups of magnetic flexible body II3 according to the simulation results of Ansys Maxwell;
[0040] Figure 6 The simulation working principle of the adsorption state is shown, and the magnetic guide line enters the adsorbed surface along the iron core, which can generate a force of about 500N.
[0041] Figure 7 The simulation working principle of the detached state is shown, and most of the magnetic guide lines are inside the magnetic foot, and there is basically no magnetic force.
[0042] Figure 8 Three pairs of magnetic flexible body I2 and three pairs of magnetic flexible body II3 are shown, which can also be replaced by four pairs or five pairs.
[0043] The magnetic use scene of the above embodiment: it can be used as a wall climbing robot, such as the foot of a wall climbing foot robot, to help the robot climb walls of different curvatures. It can be used as a flexible magnetic suction claw to grab parts of different curvatures.
[0044] The present application has been disclosed in preferred embodiments as above, however, not for the purpose of limiting the present application, any person skilled in the art can make some changes or modifications to the equivalent embodiments of the equivalent changes within the scope of the technical solutions of the present application without departing from the scope of the technical solutions of the present application, and all still belong to the scope of the technical solutions of the present application.
Claims
1. A flexible magnetic foot, characterized in that: It comprises a magnetic conductor (1), a magnetic flexible body I (2) and a magnetic flexible body II (3); The magnetic conductors (1) are arranged in an array, and a magnetic flexible body I (2) and a magnetic flexible body I (2) are provided between two adjacent magnetic conductors (1) in the circumferential direction. The magnetic flexible body II (3), the magnetic flexible body I (2) and the magnetic flexible body II (3) are arranged alternately; The magnetic flexible body I (2) is configured to be applied with a pulse current to change the direction of the magnetic force so that the magnetic flexible body II (3) is in a External adsorption or external detachment state.
2. A flexible magnetic foot according to claim 1, characterized in that: The magnetic flexible body I (2) comprises an electropermanent magnet (21), a coil I (22) and a magnetorheological elastomer I (23); the coil I (22) is coated with the magnetorheological elastomer I (23) and two electropermanent magnets (21); the magnetorheological elastomer I (23) is arranged between the two electropermanent magnets (21); and the electropermanent magnet (21) is connected to the magnetic conductor (1).
3. The flexible magnetic foot according to claim 1, characterized in that: The magnetic flexible body II (3) comprises a strong magnet (31) and a magnetorheological elastic body II (32); the magnetorheological elastic body II (32) is arranged between the two strong magnets (31), and the strong magnet (31) is connected to the magnetic conductor (1).
4. The flexible magnetic foot according to claim 2, characterized in that: The electropermanent magnet (21) is an AlNiCo5 magnet.
5. The flexible magnetic foot according to claim 3, characterized in that: The strong magnet (31) is a NdFeB magnet.
6. The flexible magnetic foot according to claim 1, characterized in that: The magnetic conductor (1) is electrical pure iron.
7. A flexible magnetic foot according to claim 2 or 3, characterized in that: A wear-resistant foot pad (4) is installed on the lower surface of each magnetic conductor (1).